************ B2 Robot Dog ************ Revision History ================ +----------+-------------------+----------+------------------------------------------------------+ | Revision | Date (DD/MM/YYYY) | Author | Changes | +==========+===================+==========+======================================================+ | 1 | 31/1/2024 | Kang Wei | Initial release | +----------+-------------------+----------+------------------------------------------------------+ | 2 | 8/7/2024 | Karthee | Update Specifications & FAQ | +----------+-------------------+----------+------------------------------------------------------+ 1. Overview =========== .. image:: figures/B2_robot.png :width: 300 px :align: center 2. Specifications ================= .. list-table:: Dimensions :widths: 25 25 * - Standing State - 1098mm x 450mm x 645mm * - Folded State - 880mm x 460mm x 330mm * - Net Weight (Incl. battery) - Approx. 60kg * - Degrees of Freedom - 12 * - Maximum Speed - 3.5m/s (Limited for safety purposes) .. list-table:: Operational Specifications **(AI Mode)** :widths: 25 25 * - Operating Temperature - -20℃ ~ 55℃, under good weather conditions * - Slope Walking Ability - | < 45° (Low Speed) | < 30° (High Speed) * - Maximum Step Height - < 25cm * - Jumping Ditch Width - 0.5 ~ 1.2m * - Maximum Jumping Distance - > 1.6m * - Protection Level - IP67 .. list-table:: Battery Information :widths: 25 25 * - Model - BT2-10 * - Weight - 12.2kg * - Capacity - 45Ah (2268Wh) * - Standard Voltage - 50.4V * - Charging Voltage - 58.8V * - Charging Current - 15A * - Operating Time - 4 - 6h * - Charging Time - 3h 20m .. list-table:: Internal PC Information :widths: 25 25 * - Intel Core i5-1235U - | OS: Ubuntu 20.04 | RAM: 8GB | Hard Drive: 512GB * - Intel Core i7-1255U / i7-1265U - | OS: Ubuntu 20.04 | RAM: 32GB | Hard Drive: 512GB * - Nvidia Jetson Orin NX - | OS: Ubuntu 20.04 | RAM: 32GB | Hard Drive: 512GB .. list-table:: Internal Components :widths: 25 25 * - Control and Perception Computing Power - | PC1 [1]: Intel Core i5 | PC2 [2]: Intel Core i7 | PC3 [3]: Intel Core i7 / Nvidia Jetson Orin NX | PC4 [3]: Intel Core i7 / Nvidia Jetson Orin NX | PC5 [3]: Intel Core i7 / Nvidia Jetson Orin NX * - Perception Sensor Configuration [4] - | 3D LiDAR ×1 | Depth Camera ×2 | Optical Camera ×2 / 1280 x 720 / 15Hz * - External Interfaces - | 1000M-Base-Ethernet ×4 | USB3.0 ×4 | 12V ×4 | 5V ×1 | 24V ×4 | BAT ×1 [1] Standard configuration [2] User development [3] Optional configuration [4] Varies with different configurations 3. Electrical Interfaces ======================== .. image:: figures/B2_electrical_interfaces.png :width: 700 px :align: center .. list-table:: Interface Description :widths: 25 25 * - | - Battery Charging Input [1] | - Top Power Board RS485 [1] | - Emergency Stop Interface [2] - | Reserved 4-pin connector for wireless charging plate and | RS485 pins for communication with the power board. | Emergency stop interface is **NOT READY** for use. * - | - PC3 Ethernet | - 12V Output - | 10-pin connector with direct ethernet connection to PC3 and | 12V power supply * - | - PC2 Ethernet | - 12V Output - | 10-pin connector with direct ethernet connection to PC2 and | 12V power supply * - PC2 USB3.0 - USB-C connector with direct connection to PC2 * - PC3 USB3.0 - USB-C connector with direct connection to PC3 * - PC1 USB2.0 - USB-C connector with direct connection to PC1 * - PC1 USB3.0 - USB-C connector with direct connection to PC1 * - | - Switch Ethernet | - 12V Output - | Connection to ethernet switch for communication between PCs | 12V power supply | Maximum current rating: 10A | Surge current protection: 20A * - | - Switch Ethernet | - 12V UPS Input [3] - | Connection to ethernet switch for communication between PCs and | 12V UPS power input * - | - Battery Power [1] | - Wheels Motors RS485 [1] - Reserved port for wheeled configuration * - | - Battery Power [1] | - FR Leg RS485 [1] - Reserved port for front right leg * - | - Battery Power [1] | - FL Leg RS485 [1] - Reserved port for front left leg * - | - EtherCAT | - 12V Output - EtherCAT communication protocol and 12V power supply * - PC4 USB3.0 (DP) - Direct USB-C DisplayPort connection to PC4 * - PC4 USB3.0 - USB-C connector with direct connection to PC4 * - PC5 USB3.0 (DP) - Direct USB-C DisplayPort connection to PC5 * - PC5 USB3.0 - USB-C connector with direct connection to PC5 * - Battery Input [1] - Reserved port for internal electrical circuit * - Battery Output - 58V power supply * - | - Battery Output | - RS485 - 58V power supply and RS485 communication protocol * - | - 24V Output | - RS485 - | 24V power supply and RS485 communication protocol | Maximum current rating: 10A | Surge current protection: 20A * - | - 12V Output | - RS485 - 12V power supply and RS485 communication protocol * - | - 5V Output | - RS485 - 5V power supply and RS485 communication protocol * - | - Battery Power [1] | - RR Leg RS485 [1] - Reserved port for rear right leg * - | - Battery Power [1] | - RL Leg RS485 [1] - Reserved port for rear left leg [1] Reserved ports are designated solely for internal electrical circuit use only, not open for public acccess [2] E-Stop interface is still in development and the use of this interface can damage the B2's main control board. [3] The standard B2 robot dog does not come equipped with an Uninterruptible Power Supply (UPS). However, it is available as a customizable add-on feature. User Interface Module ---------------------- The user interface module expands the interfaces available on the B2 body, allowing users to access the robot without needing to remove the panels. (2+2) Power Line Interface -------------------------- .. image:: figures/B2_4_pin.png :width: 300 px :align: center +-----+-----------------+-------------------+ | Pin | Colour | Interface | +=====+=================+===================+ | 1 | Black (14AWG) | Power- | +-----+-----------------+-------------------+ | 2 | Red (24AWG) | 485A | +-----+-----------------+-------------------+ | 3 | Black (24AWG) | 485B | +-----+-----------------+-------------------+ | 4 | White (14AWG) | Power+ | +-----+-----------------+-------------------+ (8+2) Signal Line Interface --------------------------- .. image:: figures/B2_10_pin.png :width: 300 px :align: center +----+--------+------------------+-----------------------------+ | Pin| Colour | Interface Meaning| T568 Standard Ethernet Cable| +====+========+==================+=============================+ | 1 | Black | Power- | | +----+--------+------------------+-----------------------------+ | 2 | Orange | 4N | Brown | +----+--------+------------------+-----------------------------+ | 3 | Purple | 4P | White Brown | +----+--------+------------------+-----------------------------+ | 4 | Brown | 1P | White Orange | +----+--------+------------------+-----------------------------+ | 5 | Blue | 1N | Orange | +----+--------+------------------+-----------------------------+ | 6 | White | 3N | Blue | +----+--------+------------------+-----------------------------+ | 7 | Green | 3P | White Blue | +----+--------+------------------+-----------------------------+ | 8 | Pink | 2N | Green | +----+--------+------------------+-----------------------------+ | 9 | Grey | 2P | White Green | +----+--------+------------------+-----------------------------+ | 10 | Red | Power+(12V) | | +----+--------+------------------+-----------------------------+ 4. Resources ============ Basic Guides ------------ * B2 Manual: `Unitree `_ * Training Slides: `B2 Customer Training `_ Development ----------- * SDK Support: `unitree_sdk2 `_ * ROS2 Support: `unitree_ros2 `_ Mechanical ---------- * User Interface Module CAD: `B2 User Interface Module STEP `_ 5. FAQ ============ * Can the ports on the side of the B2 be used? - Yes, the ports on the side of the B2 robot are accessible for use. However, we strongly recommend using the ports located on the :ref:`User Interface Module<3. Electrical Interfaces>` whenever possible. This is because using the side ports could compromise the robot's waterproof capabilities. Users are urged to be familiar of the different ports before using them. * What is the default speed of the B2 in AI mode? - The default is Low speed. Double click L1 to switch to High Speed. * Can the RealSense cameras on the B2 be used for secondary development? - No, the RealSense cameras on the B2 robot are currently not accessible for users to directly control or integrate into their own development projects. These cameras are primarily used by the manufacturer to power the robot's built-in perception features. * Can the contact charger be used outdoors? - This contact charger is designed for indoor use. Avoid using it in wet or humid environments to prevent the risk of short circuits. Moisture can damage the charger and potentially pose a safety hazard. * What does first foot control and second foot control represent? - First Foot control represents Normal mode, while Second Foot control reprensents AI mode. When switched on, the B2 is in AI mode (Second Foot control) by default.